/PROG  T1D_T2P
/ATTR
OWNER		= MNEDITOR;
COMMENT		= "TOOL1 DROP";
PROG_SIZE	= 2461;
CREATE		= DATE 17-11-07  TIME 09:46:58;
MODIFIED	= DATE 24-11-26  TIME 17:13:18;
FILE_NAME	= TL1_DROP;
VERSION		= 0;
LINE_COUNT	= 66;
MEMORY_SIZE	= 2957;
PROTECT		= READ_WRITE;
TCD:  STACK_SIZE	= 0,
      TASK_PRIORITY	= 50,
      TIME_SLICE	= 0,
      BUSY_LAMP_OFF	= 0,
      ABORT_REQUEST	= 0,
      PAUSE_REQUEST	= 0;
DEFAULT_GROUP	= 1,*,*,*,*;
CONTROL_CODE	= 00000000 00000000;
/APPL
/MN
   1:  LBL[10] ;
   2:  UFRAME_NUM=0 ;
   3:  UTOOL_NUM=1 ;
   4:  IF DI[14]=ON OR DI[25]=ON,JMP LBL[90] ;
   5:  TIMER[10]=RESET ;
   6:  TIMER[10]=START ;
   7:   ;
   8:J P[1:CLEAR] 50% CNT50    ;
   9:J P[2:CLEAR] 50% CNT50    ;
  10:J P[3:CLEAR] 50% CNT50    ;
  11:J P[4:CLEAR] 50% CNT50    ;
  12:J P[5:CLEAR] 50% CNT50    ;
  13:J P[6:APPROACH] 30% CNT50    ;
  14:L P[7:APPROACH] 1000mm/sec CNT50    ;
  15:L P[8:APPROACH] 300mm/sec FINE    ;
  16:L P[9:DROP] 100mm/sec FINE ACC50 DB    0.0mm,DO[20]=ON    ;
  17:  DO[20]=ON ;
  18:  DO[13]=OFF ;
  19:  DO[14]=ON ;
  20:  WAIT DI[14]=ON    ;
  21:  WAIT   2.00(sec) ;
  22:L P[10:APPROACH] 300mm/sec FINE DB    0.0mm,DO[20]=OFF    ;
  23:  WAIT DI[25]=ON    ;
  24:  IF DI[15]=ON,JMP LBL[67] ;
  25:  JMP LBL[68] ;
  26:  LBL[67] ;
  27:  PAUSE ;
  28:  WAIT DI[15]=OFF    ;
  29:  IF DI[15]=ON,JMP LBL[67] ;
  30:  LBL[68] ;
  31:L P[11:APPROACH] 300mm/sec CNT50    ;
  32:L P[12:APPROACH] 300mm/sec CNT50    ;
  33:J P[15:APPROACH] 30% CNT50    ;
  34:J P[16:APPROACH] 30% CNT50    ;
  35:L P[17:APPROACH] 200mm/sec FINE    ;
  36:  DO[14]=ON ;
  37:  WAIT DI[14]=ON    ;
  38:  WAIT    .50(sec) ;
  39:L P[18:PICK] 100mm/sec FINE ACC50 DB    0.0mm,DO[21]=ON    ;
  40:  DO[21]=ON ;
  41:  WAIT   1.00(sec) ;
  42:  DO[14]=OFF ;
  43:  DO[13]=ON ;
  44:  WAIT DI[13]=ON    ;
  45:  WAIT   1.00(sec) ;
  46:L P[19:APPROACH] 100mm/sec FINE DB    0.0mm,DO[21]=OFF    ;
  47:  WAIT DI[26]=OFF    ;
  48:L P[20:APPROACH] 500mm/sec CNT0    ;
  49:J P[21:APPROACH] 30% CNT50    ;
  50:J P[22:CLEAR] 30% CNT50    ;
  51:J P[23:CLEAR] 50% CNT100    ;
  52:J P[4:CLEAR] 50% CNT50    ;
  53:J P[3:CLEAR] 50% CNT50    ;
  54:J P[2:CLEAR] 50% CNT50    ;
  55:J P[1:CLEAR] 50% CNT50    ;
  56:  MOVE TO HOME    ;
  57:  TIMER[10]=STOP ;
  58:  R[30]=TIMER[10]    ;
  59:   ;
  60:  END ;
  61:   ;
  62:  LBL[90] ;
  63:  MESSAGE[ERROR: T1 DETECT OR NOT] ;
  64:  UALM[7] ;
  65:  JMP LBL[10] ;
  66:   ;
/POS
P[1:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=    44.011 deg,	J2=   -87.080 deg,	J3=    90.000 deg,
	J4=     8.668 deg,	J5=   -86.410 deg,	J6=  -102.928 deg
};
P[2:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=    79.571 deg,	J2=   -81.938 deg,	J3=    89.820 deg,
	J4=    89.989 deg,	J5=   -75.422 deg,	J6=   -94.260 deg
};
P[3:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  -325.007  mm,	Y =  2707.689  mm,	Z =  2280.758  mm,
	W =   -90.785 deg,	P =   -85.911 deg,	R =   -56.116 deg
};
P[4:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   168.853 deg,	J2=   -82.496 deg,	J3=    75.427 deg,
	J4=    92.163 deg,	J5=   -75.580 deg,	J6=  -111.661 deg
};
P[5:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   191.910 deg,	J2=   -71.372 deg,	J3=    76.975 deg,
	J4=    -1.629 deg,	J5=   -77.422 deg,	J6=  -101.295 deg
};
P[6:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   159.391 deg,	J2=   -59.445 deg,	J3=    86.290 deg,
	J4=   -88.509 deg,	J5=  -111.319 deg,	J6=   -85.758 deg
};
P[7:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X = -2978.539  mm,	Y =   296.288  mm,	Z = -1555.322  mm,
	W =   -76.896 deg,	P =    89.496 deg,	R =  -166.155 deg
};
P[8:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X = -2980.177  mm,	Y =   104.278  mm,	Z = -1565.329  mm,
	W =   -91.791 deg,	P =    89.609 deg,	R =   179.020 deg
};
P[9:"DROP"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X = -2980.178  mm,	Y =   104.278  mm,	Z = -1622.751  mm,
	W =   -91.793 deg,	P =    89.609 deg,	R =   179.018 deg
};
P[10:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X = -2980.175  mm,	Y =   283.434  mm,	Z = -1622.752  mm,
	W =   -91.766 deg,	P =    89.609 deg,	R =   179.045 deg
};
P[11:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X = -2973.656  mm,	Y =   319.799  mm,	Z = -1618.214  mm,
	W =   -70.996 deg,	P =    89.648 deg,	R =  -160.264 deg
};
P[12:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   162.091 deg,	J2=   -52.306 deg,	J3=    82.954 deg,
	J4=   -87.762 deg,	J5=  -108.531 deg,	J6=   -82.234 deg
};
P[15:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   198.963 deg,	J2=   -51.821 deg,	J3=    84.568 deg,
	J4=     7.935 deg,	J5=   -87.579 deg,	J6=    19.938 deg
};
P[16:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 1, 0, 0',
	X = -2970.000  mm,	Y =  -814.000  mm,	Z = -1548.000  mm,
	W =  -129.385 deg,	P =    89.897 deg,	R =   -39.614 deg
};
P[17:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 1, 0, 0',
	X = -2970.424  mm,	Y =  -814.807  mm,	Z = -1620.569  mm,
	W =   131.527 deg,	P =    89.485 deg,	R =  -137.830 deg
};
P[18:"PICK"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 1, 0, 0',
	X = -2970.425  mm,	Y =  -672.205  mm,	Z = -1620.567  mm,
	W =   131.527 deg,	P =    89.485 deg,	R =  -137.831 deg
};
P[19:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 1, 0, 0',
	X = -2970.389  mm,	Y =  -672.207  mm,	Z = -1556.480  mm,
	W =   131.586 deg,	P =    89.486 deg,	R =  -137.771 deg
};
P[20:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 1, 0, 0',
	X = -2963.035  mm,	Y = -1018.205  mm,	Z = -1527.569  mm,
	W =   142.726 deg,	P =    89.552 deg,	R =  -126.636 deg
};
P[21:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   199.463 deg,	J2=   -43.338 deg,	J3=    66.969 deg,
	J4=    52.747 deg,	J5=   -90.609 deg,	J6=    51.322 deg
};
P[22:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   204.480 deg,	J2=   -50.537 deg,	J3=    71.238 deg,
	J4=    71.549 deg,	J5=  -102.895 deg,	J6=   -70.787 deg
};
P[23:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   186.358 deg,	J2=   -91.506 deg,	J3=    83.487 deg,
	J4=    77.924 deg,	J5=   -91.685 deg,	J6=   -87.490 deg
};
/END
